The lecture delivers the basic concepts of non-linear model-based control of robotic manipulators. It covers the following topics:
- robot dynamics, formulation tailored for model-based control
- stability concepts of dynamical systems
- the concept of passivity of a control system
- advanced passivity-based control methods,
- the method of feedback linearization
- application to serial and parallel manipulators
Lehrform:
Presentation/lecture with chalk at the board; illustrations with Powerpoint, computer simulations
Lernziele:
Students are familiar with model-based control concepts for actuated mechanical systems and are able to apply them to robotic manipulators.
Studienleistung:
According to the examination regulation the type and duration of the examination will be defined from the lecturer before the semester starts.
Literatur:
H. Asada, J.J.E. Slotine: Robot Analysis and Control, Wiley, 1986
R. Ortega, A. Loria, P. J. Nicklasson, H. Sira-Ramirez: Passivity-based Control of Euler-Lagrange-Systems, Mechanical, Electrical and Electromechanical Applications, Springer, 1998
Paul: Robot Manipulators: Mathematics, Programming and Control, MIT Press
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